action tokenization 1behavior cloning 1imitation learning 1motion mode conditioning 1robot manipulation 1
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cs.RO2026
MoMo: Dial Motion Mode in Robot Manipulation with Spatiotemporal Action Tokenization
Yuhan Hu, Hugues Thomas, Peide Huang +3
MoMo is a two-stage imitation‑learning system that uses spatiotemporal action tokenization and a behavior‑cloning transformer to let robots vary their manipulation style (steady, d…
cs.RO2025
ELEGNT: Expressive and Functional Movement Design for Non-anthropomorphic Robot
Yuhan Hu, Peide Huang, Mouli Sivapurapu +1
Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interac…
cs.RO2024
EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning
Peide Huang, Yuhan Hu, Nataliya Nechyporenko +3
This paper introduces a framework, called EMOTION, for generating expressive motion sequences in humanoid robots, enhancing their ability to engage in humanlike non-verbal communic…